一种自适应二指夹持器的设计及应用*

作者：张俊强1，周军2，丁希仑1 日期：2008-06-23/span> 浏览：4376 查看PDF文档

一种自适应二指夹持器的设计及应用*

张俊强1，周军2，丁希仑1
（1.北京航空航天大学 机械工程及自动化学院,北京 100083； 2.北京航空航天大学 自动化科学与电气工程学院,北京 100083）

摘要：针对机械臂系统抓取、搬运、轴孔装配的任务要求，设计了一种新型自适应二指夹持器。该夹持器的控制系统通过力传感器信号判断机械手指与物体的接触，从而实现自适应夹持，夹持器安装在三菱PA10 7自由度机械臂上，对安装夹持器的机械臂系统建立了运动学模型，机械臂的控制器和二指夹持器的控制器通过串行通讯实现协调控制。最后通过轴孔装配实验，验证了夹持器的功能以及机械臂和夹持器之间的协调。
关键词：机械臂；夹持器；自适应控制；装配
中图分类号：TP241.3文献标识码：A文章编号：1001-4551(2008)05-0005-04

Design and application of adaptive bifinger gripper
ZHANG Junqiang1, ZHOU Jun2, DING Xilun1
(1.College of Mechanical Engineering and Automation, Beihang University, Beijing 100083, China;
2.College of Automation Science and Electrical Engineering, Beihang University, Beijing 100083, China)
Abstract: An adaptive bifinger gripper was designed to grasp, move, and assemble objects with a robotic manipulator. The controller of the gripper determined the contact with objects by signals from force sensors in order to perform adaptive control on the gripper. The gripper was mounted on Mitsubishi PA10 7DOF robotic manipulator and the kinematic model of the PA10 robotic manipulator and the gripper was established. By serial communication between the controller of the gripper and the controller of the manipulator, the collaboration between the gripper and the manipulator was realized. Finally, a peginhole assembly experiment showed the function of the gripper and the collaboration between the gripper and the robotic manipulator.
Key words: robotic manipulator; gripper; adaptive control; assembly

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